GeezerVison

This parameter name doesn't not follow python-control naming conventions. From the developer notes:

Use longer description parameter names that describe the action or role (e.g., trajectory_constraints and print_summary in optimal.solve_optimal_trajectory.

I suggest something like target_gamma for this parameter name.

Although this is consistent with the current very terse docstring, I think a bit more information is needed, either here or in a Notes section later in the docstring. Something like:

If target_gamma is specified, then a controller with the target value of $\gamma$ will be generated. This is potentially suboptimal, but save computation time.